Kalman filter for indoor positioning
First Claim
Patent Images
1. A positioning system, comprising:
- a position estimator to determine a current position estimate and a corresponding covariance derived from a Wi-Fi dilution of position (WDOP) algorithm;
a position smoother to update a previous position estimate using the current position estimate and a delayed position estimate;
a constraints module to limit a change in the updated previous position estimate with respect to a prior updated previous position estimate; and
an ouput means to communicate a position of the system.
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Abstract
A position estimation method for indoor positioning includes filtering an initial position estimate that includes a corresponding covariance that reflects the quality of the geometry of the reference points and a previous initial position estimate that includes a corresponding covariance that reflects the quality of the geometry of the reference points by a Kalman filter to generate an updated previous position estimate, analyzing the updated previous position estimate to determine if the value is outside of a range, and constraining the updated previous position estimate based on the value being outside of the range.
9 Citations
14 Claims
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1. A positioning system, comprising:
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a position estimator to determine a current position estimate and a corresponding covariance derived from a Wi-Fi dilution of position (WDOP) algorithm; a position smoother to update a previous position estimate using the current position estimate and a delayed position estimate; a constraints module to limit a change in the updated previous position estimate with respect to a prior updated previous position estimate; and an ouput means to communicate a position of the system. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A wireless indoor positioning device, comprising:
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a delay element and a multiplexer to receive a current position estimate that includes a corresponding covariance and the delay element to delay the current position estimate; a first Kalman filter coupled to the output of the delay element and an output of a multiplexer (MUX) to generate an updated previous position estimate using the current position estimate and a delayed position estimate; a constraints module, coupled to the first Kalman filter, to limit the change in the updated position estimate based on a difference between a prior updated previous position estimate and the updated previous position estimate, wherein the constraint will not be applied if the difference is within a range; and an ouput means to communicate a position of the system. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification